09/30175272 DC : 0

Foreword
Introduction
1 Scope
2 Normative references
3 Terms and definitions
4 Field of application
5 General features
6 Requirements
   6.1 General aspects
   6.2 Motions
   6.3 Load capacity
   6.4 Length of the slave arms
   6.5 Forces, torques and lengths
   6.6 Design features
        6.6.1 Main features
        6.6.2 Design concepts
        6.6.3 Housings, materials and surface treatment
        6.6.4 Ranges of motions
   6.7 Friction
   6.8 Deflection under load
   6.9 Velocities
   6.10 Dimensions of tongs with parallel jaws (standard
        tongs)
   6.11 Electrical servo system
7 Optional features
8 Operation
   8.1 Master arm
   8.2 Operating station
9 Slave units and transporters
10 Special tongs and tools
11 Criteria for selection
12 Testing
13 Non-radioactive trial cells
Annex A (informative) - Features of prototypes and experimental
        devices which are not covered by this standard include
        the following:
   A.1 Arm structure
   A.2 Drives
   A.3 Design
   A.4 End effectors
   A.5 Master arm
Annex B (informative) - Television systems
Bibliography